Active body, method for manufacturing active body and method for operating active body

Abstract

To provide an active body capable of curving a base material with a new principle.SOLUTION: An active body comprises a base material, an expandable tube, a filament, and a first fixing part formed by sewing the tube onto the base material with the filament. The first fixing part functions as a bending force generation unit that converts a force that the tube expands into a force that bends the base material, and the direction of the force that bends the base material is determined by the direction and arrangement of the filament sewn onto the base material so as to straddle the tube.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The disclosure in this application relates to an active body, a method for manufacturing an active body, and a method for operating an active body. [Background technology]

[0002] Active bodies that are worn on the human body and induce a predetermined movement in the wearer have been known for some time. For example, Patent Document 1 discloses an active body in which various types of artificial muscle threads are held on a substrate made of cloth, plastic, metal, or the like. In the active body described in Patent Document 1, multiple McKibben artificial muscle threads are arranged in parallel in the same direction and are held on the substrate by a holding part, and the contractile force of the multiple McKibben artificial muscle threads generates a force that bends the substrate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-98122 Summary of the Invention [Problem to be solved by the invention]

[0004] The active body described in Patent Document 1 bends a lattice-shaped substrate by arranging McKibben artificial muscle fibers on the substrate. This complicates the manufacturing process and increases costs. Therefore, instead of bending a substrate by arranging McKibben artificial muscle fibers on a lattice-shaped substrate, it is desirable to develop an active body that can bend a substrate using a new principle.

[0005] The disclosure in this application has been made to solve the above-mentioned problems, and as a result of intensive research, it has been newly discovered that (1) unlike conventional McKibben artificial muscle threads, an expandable tube that is not covered with a braided cord is used, (2) the tube is sewn and fixed to a substrate using a filament to form a first fixing part, and (3) by adjusting the sewing direction and arrangement of the filament that forms the first fixing part, (4) the first fixing part functions as a bending force generating part that bends the substrate by converting the force of the expansion of the tube into a force that bends the substrate.

[0006] The purpose of the disclosure in this application is to provide an active body that can bend a substrate based on a new principle, a method for manufacturing the active body, and a method for operating the active body. [Means for solving the problem]

[0007] The disclosure in this application relates to the following active bodies, methods for manufacturing active bodies, and methods for operating active bodies.

[0008] (1) An active body, the active body being: A substrate; an inflatable tube; a filament; a first fixing portion formed by sewing and fixing the tube onto the base material with the thread; Including, the first fixing portion functions as a bending force generating portion that bends the base material by converting an expanding force of the tube into a force that bends the base material, The direction and placement of the threads sewn onto the substrate across the tube determines the direction of the force that bends the substrate. Active body. (2) The central axis direction of the tube is defined as the axial direction; When the first fixing portion is viewed in the axial direction, The direction from the axial direction to the substrate side is defined as the substrate direction, When the direction opposite to the substrate side from the axial direction is defined as the tube direction, The force that bends the substrate is a force that twists the substrate to the right as viewed in the axial direction; a force that twists the substrate leftward when viewed in the axial direction; a force bending the substrate toward the substrate; and a force bending the substrate toward the tube; At least one selected from the group consisting of The active body according to (1) above. (3) A portion of the filament closer to the tube than the substrate is defined as a filament first portion, A virtual line on the base material that is substantially perpendicular to the axial direction is defined as a reference line; When the first fixing portion is viewed from the tube side, When the thread first portion is sewn on the right side of the reference line in the axial direction, a force is generated that twists the base material to the right, When the thread first portion is sewn on the left side of the reference line in the axial direction, a force is generated that twists the base material to the left, When the first thread portion is sewn in a zigzag pattern from one side to the other side of the tube, a force is generated that bends the base material toward the base material, When the thread-shaped body first portion is sewn so that a portion sewn on the right side of the reference line in the axial direction and a portion sewn on the left side of the reference line in the axial direction cross each other, a force that bends the base material in the tube direction is generated. The active body according to (2) above. (4) Further including a bending force non-generating portion, wherein the bending force non-generating portion is a second fixing portion formed by sewing and fixing the tube to the base material with the thread-shaped body, and in which the expansion force of the tube is not converted into a force that bends the base material; or a portion of the tube covered with a burst prevention member for preventing the tube from bursting when the tube is expanded; is The active body according to (1) above. (5) A method for manufacturing an active body, the active body comprising: a base material, an expandable tube, a thread, and a first fixing portion formed by sewing and fixing the tube to the base material with the thread, the first fixing portion functions as a bending force generating portion that bends the base material by converting an expanding force of the tube into a force that bends the base material, The manufacturing method is a design step of designing a direction and a portion of the substrate to be curved in the active body; a first fixing part fabrication step of designing a sewing direction and arrangement of the filament when sewing the filament across the tube onto the base material based on the design in the design step, and fabricating the first fixing part by sewing the tube onto the base material with the filament based on the designed sewing direction and arrangement of the filament; Contains Manufacturing method. (6) The central axis direction of the tube is defined as the axial direction; When the first fixing portion is viewed in the axial direction, The direction from the axial direction to the substrate side is defined as the substrate direction, When the direction opposite to the substrate side from the axial direction is defined as the tube direction, In the design process, the first fixing portion is a force that twists the substrate to the right as viewed in the axial direction; a force that twists the substrate leftward when viewed in the axial direction; a force bending the substrate toward the substrate; and a force bending the substrate toward the tube; The design is such that it contains at least one selected from the group consisting of The manufacturing method described in (5) above. (7) A portion of the filament closer to the tube than the substrate is defined as a filament first portion, A virtual line on the base material that is substantially perpendicular to the axial direction is defined as a reference line; When the first fixing portion is viewed from the tube side, The first fixing portion fabricating step includes: When a force twisting the base material to the right is generated, the thread is sewn so that the first thread portion is located to the upper right of the reference line in the axial direction; When a force twisting the base material in the left direction is generated, the thread is sewn so that the first thread portion is located on the upper left side of the reference line in the axial direction; When a force that bends the base material toward the base material is generated, the thread-shaped body is sewn so that the first thread-shaped body portion is in a zigzag shape from one side of the tube to the other side, When a force that bends the base material in the tube direction is generated, the thread is sewn so that the portion where the thread first portion is sewn on the right side in the axial direction from the reference line intersects with the portion where the thread first portion is sewn on the left side in the axial direction from the reference line. The manufacturing method described in (6) above. (8) A method for operating an active body, the active body comprising: a base material, an inflatable tube, a filament, a first fixing portion formed by sewing and fixing the tube to the base material with the filament, an air supply device that supplies gas to the tube, and an air supply pipe that connects the air supply device and the tube, the first fixing portion functions as a bending force generating portion that bends the base material by converting an expanding force of the tube into a force that bends the base material, the force that bends the substrate varies depending on the direction and arrangement of the threads sewn onto the substrate across the tube; The operation method is a gas supplying step of supplying gas into the tube; a base material bending step of bending the base material by converting a force of expansion of the tube caused by an air supply step into a force that bends the base material with the first fixing portion; Contains How it works. (9) The central axis direction of the tube is defined as the axial direction, When the first fixing portion is viewed in the axial direction, The direction from the axial direction to the substrate side is defined as the substrate direction, When the direction opposite to the substrate side from the axial direction is defined as the tube direction, The force that bends the substrate is a force that twists the substrate to the right as viewed in the axial direction; a force that twists the substrate leftward when viewed in the axial direction; a force bending the substrate toward the substrate; and a force bending the substrate toward the tube; At least one selected from the group consisting of The operating method described in (8) above. (10) A portion of the filament closer to the tube than the substrate is defined as a filament first portion, A virtual line on the base material that is substantially perpendicular to the axial direction is defined as a reference line; When the first fixing portion is viewed from the tube side, The first fixing portion is When a force twisting the base material to the right is generated, the thread is sewn so that the first thread portion is located to the upper right of the reference line in the axial direction, When a force twisting the base material in the left direction is generated, the thread is sewn so that the first thread portion is located on the upper left side of the reference line in the axial direction, When a force that bends the base material toward the base material is generated, the thread-shaped body is sewn so that the first thread-shaped body portion is in a zigzag shape from one side of the tube to the other side, When a force that bends the base material in the tube direction is generated, the thread-shaped body is sewn so that a portion where the thread-shaped body first portion is sewn on the right side in the axial direction from the reference line intersects with a portion where the thread-shaped body first portion is sewn on the left side in the axial direction from the reference line. The operating method described in (9) above. [Effects of the Invention]

[0009] The active body disclosed in this application does not use McKibben artificial muscle yarn, but rather uses an expandable tube sewn directly to a substrate to form a first fixed part, which functions as a bending force generator that bends the substrate. This provides an active body based on a new principle and improves manufacturing convenience. [Brief explanation of the drawings]

[0010] [Figure 1A] FIG. 1A is a top view showing a schematic of an active body 1. FIG. [Figure 1B] FIG. 1B is a schematic view of FIG. 1A viewed axially. [Figure 2] FIG. 2 is a schematic diagram for explaining the direction of the force that curves the base material 2, and the sewing direction and arrangement of the thread-shaped body 4 for generating the force that curves in that direction. [Figure 3] FIG. 3 is a schematic diagram for explaining the direction of the force that curves the base material 2, and the sewing direction and arrangement of the thread-shaped body 4 for generating the force that curves in that direction. [Figure 4] FIG. 4 is a schematic diagram for explaining the direction of the force that curves the base material 2, and the sewing direction and arrangement of the thread-shaped body 4 for generating the force that curves in that direction. [Figure 5] FIG. 5 is a schematic diagram for explaining the direction of the force that curves the base material 2, and the sewing direction and arrangement of the threads 4 for generating the force that curves in that direction. [Figure 6] FIG. 6 is a schematic diagram for explaining a bending force non-generating section, which is an optional additional configuration example that can be adopted by the active body 1. [Figure 7] FIG. 7 is a flowchart of a method for manufacturing the active body 1. [Figure 8] FIG. 8 is a diagram for explaining an outline of an apparatus for carrying out the method for operating the active body 1. In FIG. [Figure 9] FIG. 9 is a flow chart of the method of operating the active body 1. [Figure 10] FIG. 10 is a schematic diagram showing the size of the first fixed portion 5 of the active body 1 of Example 1, and a photograph taken when the actuation method was carried out. [Figure 11] FIG. 11 is a schematic diagram showing the size of the first fixed portion 5 of the active body 1 of Example 2, and a photograph taken when the actuation method was carried out. [Figure 12] FIG. 12 is a schematic diagram showing the size of the first fixed portion 5 of the active body 1 of Example 3, and a photograph taken when the actuation method was carried out. [Figure 13] FIG. 13 is a schematic diagram showing the size of the first fixed portion 5 of the active body 1 of Example 4, and a photograph taken when the actuation method was carried out. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, the active body, the manufacturing method of the active body, and the operating method of the active body will be described in detail with reference to the drawings. In this specification, components having the same function are designated by the same or similar reference numerals. Furthermore, repeated explanations of components designated by the same or similar reference numerals may be omitted.

[0012] Furthermore, for ease of understanding, the position, size, range, etc. of each component shown in the drawings may not represent the actual position, size, range, etc. Therefore, the disclosure in this application is not necessarily limited to the position, size, range, etc. disclosed in the drawings.

[0013] (Direction definition) The directions in this specification will be defined with reference to Figures 1A and 1B. In this specification, the central axis direction of the tube 3 is defined as the axial direction D1. Note that the tube 3 has two central axis directions, but one selected central axis direction is defined as the axial direction D1, and when the axial direction D1 is referred to in this specification, it always means the selected axial direction D1. In addition, in this specification, the direction from the axial direction D1 toward the substrate 2 is defined as the substrate direction D2, and the direction from the axial direction D1 opposite to the substrate 2 side is defined as the tube direction D3.

[0014] (Embodiment of Active Body) An active body 1 according to an embodiment will be described with reference to Figures 1A to 5. Figure 1A is a top view showing an outline of the active body 1, and Figure 1B is a schematic view of Figure 1A as seen in the axial direction D1. Figures 2 to 5 are schematic views for explaining the direction of the force that bends the base material 2, and the sewing direction and arrangement of the thread-shaped body 4 for generating a bending force in that direction.

[0015] The active body 1 according to the embodiment includes a substrate 2, an expandable tube 3, a filament 4, and a first fixed portion 5 formed by sewing and fixing the tube 3 onto the substrate 2 with the filament 4. The first fixed portion 5 functions as a bending force generating portion that converts the force of the tube 3 expanding into a force that bends the substrate 2, thereby bending the substrate 2. As will be described in more detail below, the direction of the force that bends the substrate 2 is determined by the orientation and arrangement of the filament 4 that is sewn onto the substrate 2 so as to straddle the tube 3.

[0016] The substrate 2 is not particularly limited as long as it can sew the filaments 4 and has the flexibility to bend due to the bending force generated by the first fixing portion 5 when the tube 3 is expanded. Examples of the substrate 2 include, but are not limited to, soft materials such as a fiber base fabric, soft resin, rubber, leather, and paper. Examples of the fiber base fabric include woven fabrics, knitted fabrics, and nonwoven fabrics. Examples of fiber materials constituting the fiber base fabric include natural fibers such as cotton or wool, regenerated fibers such as rayon and cupraammonium rayon, and synthetic fibers such as polyamide, polyester, and acrylic. The fiber base fabric may be a woven fabric made of a combination of these fiber materials or a woven fabric made of a single fiber material. Alternatively, the substrate 2 may be made of a hard material such as metal or hard resin, as long as the filaments 4 can be sewn to it. In this case, the substrate 2 preferably has multiple element members made of metal or hard resin, and is configured to be easily reshapeable by using a connecting mechanism that connects adjacent element members so that they can move relative to each other.

[0017] In the example shown in FIGS. 1A and 1B, the substrate 2 is sheet-shaped. When the substrate 2 is sheet-shaped, the manufactured active body 1 can be processed into a predetermined shape. The active body 1 according to the embodiment can be applied to movable bodies such as humans, animals, and dolls, and has the function of guiding the movement of the movable body. However, it is not limited to this, and can also be applied to supports that support the movement of the human body (movable body), such as car seats, chairs, and massage machines. For example, the active body 1 can be applied to furniture such as floor chairs and sofas, bedding such as beds and futons on which movable bodies lie, interior items such as curtains and noren curtains, bags, backpacks, etc., as well as supports. Of course, it can also be applied to clothing, etc. As described in the manufacturing method below, the active body 1 according to the embodiment can be manufactured by sewing tubes 3 to the substrate 2 using filaments 4. Therefore, existing objects such as the above-mentioned supports, interior items, and clothing can be used as the substrate 2, and by sewing tubes 3 to the existing objects using filaments 4, these existing objects can be converted into active bodies.

[0018] There are no particular limitations on the tube 3 as long as it can be expanded by supplying a gas such as air. Although not limited thereto, examples of the material for the tube 3 include silicone, natural rubber, polyurethane, nylon, and polyester.

[0019] 1B, there is no particular limitation on the filament 4 as long as it can be sewn to the substrate 2 so as to straddle the tube 3. Although not limited thereto, examples of the thread material include silk thread, cotton thread, wool thread, chemical fiber (e.g., polyester, rayon, etc.), metal thread, etc.

[0020] 2 to 5, the direction of the force that curves the base material 2 and the sewing direction and arrangement of the thread-shaped body 4 for curving the base material 2 in that direction will be described. In the following description, the portion of the thread-shaped body 4 that is closer to the tube 3 than the base material 2 is defined as a thread-shaped body first portion 41, and an imaginary line on the base material 2 that is approximately perpendicular to the axial direction D1 is defined as a reference line X.

[0021] (1) Force to twist substrate 2 to the right Referring to Figure 2, we will explain the case where first fixed portion 5 generates a force that twists substrate 2 to the right. Figure 2A is an enlarged view of first fixed portion 5 of active body 1, and Figure 2B is a schematic view of first fixed portion 5 as seen in axial direction D1 (the direction in which first fixed portion 5 shown in Figure 2A is seen from below to above the page). Note that in Figure 2B, to simplify the drawing, first filament portion 41 is omitted. Similarly, in Figures 3B, 4B, and 5B, first filament portion 41 is omitted.

[0022] In the example shown in Fig. 2A, when the first fastening part 5 is viewed from the tube 3 side, the first thread portion 41 is sewn to the upper right side in the axial direction D1 from the reference line X. When the first thread portion 41 is sewn to the base material 2 as shown in Fig. 2A, a force is generated that twists the base material 2 to the right when viewed in the axial direction D1. The rightward direction can also be expressed as a force that twists the base material 2 clockwise when viewed in the axial direction D1.

[0023] When the angle α formed between the reference line X and the first filament portion 41 is 0 degrees, no force is generated that twists the substrate 2 to the right. To generate a force that twists the substrate 2 to the right, the angle α needs to be greater than 0 degrees, and examples of the angle α that can be used include 1 degree or more, 2 degrees or more, 3 degrees or more, 4 degrees or more, 5 degrees or more, 6 degrees or more, 7 degrees or more, 8 degrees or more, 9 degrees or more, 10 degrees or more, 11 degrees or more, 12 degrees or more, 13 degrees or more, 14 degrees or more, 15 degrees or more, 16 degrees or more, 17 degrees or more, 18 degrees or more, 19 degrees or more, 20 degrees or more, 21 degrees or more, 22 degrees or more, 23 degrees or more, 24 degrees or more, and 25 degrees or more. On the other hand, if the upper limit of the angle α is too large, it becomes difficult to sew the tube 3 to the substrate 2. Examples of angles α are, but are not limited to, angles less than 90 degrees, such as 89 degrees or less, 88 degrees or less, 87 degrees or less, 86 degrees or less, 85 degrees or less, 84 degrees or less, 83 degrees or less, 82 degrees or less, 81 degrees or less, 80 degrees or less, 79 degrees or less, 78 degrees or less, 77 degrees or less, 76 degrees or less, 75 degrees or less, 74 degrees or less, 73 degrees or less, 72 degrees or less, 71 degrees or less, 70 degrees or less, 69 degrees or less, 68 degrees or less, 67 degrees or less, 66 degrees or less, and 65 degrees or less. Note that angle α may be expressed using any of the above-exemplified values, such as 15 degrees≦α≦75 degrees, 20 degrees≦α≦70 degrees, etc. To avoid complication, values ​​between 26 degrees and 64 degrees are omitted, but angle α can also take values ​​between 26 degrees and 64 degrees. Any numerical value within the range of 26 degrees to 64 degrees may be used, for example, 30 degrees≦α≦60 degrees, 35 degrees≦α≦55 degrees, etc. Furthermore, although the numerical values ​​are expressed as integers, they may also include decimal points.

[0024] When the first filament portions 41 are sewn to the base material 2, the first filament portions 41 may be sewn approximately parallel to each other at the angle α. The interval at which the first filament portions 41 are sewn (the distance L1 between the locations where adjacent first filament portions 41 emerge from the base material 2) is not particularly limited as long as it is within a range in which the first fixing portion 5 can generate a force to twist the base material 2 and the tube 3 does not burst. The sewing width in the direction of the reference line X when sewing the first filament portions 41 to the base material 2 is also not particularly limited as long as it is within a range in which the first fixing portion 5 can generate a force to twist the base material 2 and the tube 3 does not burst, and the length of the sewing width may be designed as appropriate.

[0025] As described above, the first filament portions 41 need only be sewn so as to be substantially parallel, but a slight error in the sewing direction is acceptable. In the example shown in Fig. 2A, the tube 3 is sewn in a substantially straight line, but it is also possible for the tube 3 to be sewn while curved relative to the base material 2. In this case, the angle α is set for each first filament portion 41, and each angle α is preferably within the range exemplified above.

[0026] 2A , one or more of the multiple filament first portions 41 constituting first fixing part 5 do not need to satisfy the above-mentioned angle α, as long as it is within the range in which first fixing part 5 generates a force that twists substrate 2 to the right. In other words, it is preferable that the average value of angle α of each of filament first portions 41 constituting first fixing part 5 is within the above-mentioned range of angle α.

[0027] (2) Force to twist substrate 2 to the left With reference to Figure 3, we will explain the case where first fixed portion 5 generates a force that twists substrate 2 to the left. Figure 3A is an enlarged view of first fixed portion 5 of active body 1, and Figure 3B is a schematic view of first fixed portion 5 as seen in axial direction D1 (the direction in which first fixed portion 5 shown in Figure 3A is seen from below to above the page).

[0028] The force twisting the substrate 2 leftward can be explained by replacing "FIG. 2A" with "FIG. 3A," "FIG. 2B" with "FIG. 3B," "right" with "left," "clockwise" with "counterclockwise," and "angle α" with "angle β" in the above description of "(1) force twisting the substrate 2 rightward." Therefore, to avoid duplication, a detailed description of (2) force twisting the substrate 2 leftward will be omitted.

[0029] (3) Force bending the substrate 2 in the substrate direction D2 A case where first fixed portion 5 generates a force that bends substrate 2 in substrate direction D2 will be described with reference to Figure 4. Figure 4A is an enlarged view of first fixed portion 5 of active body 1, and Figure 4B is a schematic view of first fixed portion 5 viewed in a direction substantially perpendicular to axial direction D1.

[0030] 4A, when the first fixing part 5 is viewed from the tube 3 side, the first thread part 41 is sewn in a zigzag pattern from one side to the other of the left or right side of the tube 3. In this specification, the term "zigzag pattern" means that the first thread part 41 is sewn in the direction D1 while folding back on the left and right sides of the tube 3 without crossing over itself, such as from 2L1 on the left side of the tube 3 to 2R1 on the right side of the tube 3 to 2L2 on the left side of the tube 3 to 2R2 on the right side of the tube 3.

[0031] The angle formed by the portion of the first thread portion 41 sewn on the right side from the reference line X in the axial direction D1 and the reference line X is defined as γ1, and the angle formed by the portion of the first thread portion 41 sewn on the left side from the reference line X in the axial direction D1 and the reference line X is defined as γ2. The range of angles γ1 can be the same as the range of angles α. The range of angles γ2 can be the same as the range of angles β. Note that angles γ1 and γ2 may be the same or different as long as they are within the above ranges.

[0032] The first filament portion 41 may be sewn in a zigzag pattern as described above, but slight variations in the sewing direction are acceptable. In the example shown in FIG. 4A , the tube 3 is sewn in a substantially straight line, but it is also possible for the tube 3 to be sewn curved relative to the substrate 2. In this case, the angles γ1 and γ2 are set for each of the first filament portions 41 folded back on the left and right, and each angle γ1 and γ2 may be within the ranges exemplified above. The distances between 2L1 and 2L2 and between 2R1 and 2R2 are determined appropriately depending on the angles γ1 and γ2.

[0033] The thread-shaped first portion 41 is sewn to the base material 2 across the tube 3 in a zigzag shape, so that the base material 2 can be bent in the substrate direction D2 as shown in FIG. 4B.

[0034] 4A , one or more of the multiple filament first portions 41 constituting the first fixing portion 5 do not need to satisfy the above angles γ1 and γ2, as long as the first fixing portion 5 is within a range in which it can generate a force that bends the substrate 2 in the substrate direction D2. In other words, it is preferable that the average of the angles γ1 and γ2 of the individual filament first portions 41 constituting the first fixing portion 5 is within the above range of angles γ1 and γ2. Furthermore, there are no particular limitations on the sewing width in the direction of the reference line X when sewing the filament first portions 41 to the substrate 2, as long as the sewing width is within a range in which the first fixing portion 5 can generate a force that bends the substrate 2 in the substrate direction D2 and does not cause the tube 3 to burst; the length of the sewing width can be designed appropriately.

[0035] (4) Force bending the substrate 2 in the tube direction D3 The case where the first fixed portion 5 generates a force that bends the substrate 2 in the tube direction D3 will be described with reference to Figure 5. Figure 5A is an enlarged view of the first fixed portion 5 portion of the active body 1, and Figure 5B is a schematic view of the first fixed portion 5 as viewed in a direction substantially perpendicular to the axial direction D1.

[0036] In the example shown in Figure 5A, when the first fixing part 5 is viewed from the tube 3 side, the first part 41 of the thread-like body is sewn so that the part sewn on the upper right side from the reference line X in the axial direction D1 and the part sewn on the upper left side from the reference line X in the axial direction D1 intersect.

[0037] The angle formed by the portion of the first thread portion 41 sewn on the right side in the axial direction D1 from the reference line X and the reference line X is defined as Δ1, and the angle formed by the portion of the first thread portion 41 sewn on the left side in the axial direction D1 from the reference line X and the reference line X is defined as Δ2. The range of angles Δ1 can be the same as the range of angles α. The range of angles Δ2 can be the same as the range of angles β. Note that angles Δ1 and Δ2 may be the same or different as long as they are within the above ranges.

[0038] The portions of the first filament portions 41 sewn to the upper right side in the axial direction D1 from the reference line X may be sewn approximately parallel to each other so that the angle Δ1 is established. The interval at which the first filament portions 41 are sewn (the distance L2 between the locations where adjacent first filament portions 41 on the right side of the tube 3 in the axial direction D1 are sewn to the underside of the substrate 2) is not particularly limited as long as it is within a range in which the first fixing portion 5 can generate a force to bend the substrate 2 in the tube direction D3 and the tube 3 does not rupture. The sewing width in the direction of the reference line X when sewing the first filament portions 41 to the substrate 2 is also not particularly limited as long as it is within a range in which the first fixing portion 5 can generate a force to bend the substrate 2 in the tube direction D3 and the tube 3 does not rupture; the length of the sewing width may be designed as appropriate.

[0039] The portions of the first filament portions 41 sewn to the upper left side in the axial direction D1 from the reference line X may be sewn approximately parallel to each other so that the angle Δ2 is established. Similarly to L2, the interval L3 at which the first filament portions 41 are sewn is not particularly limited as long as it is within a range in which the first fixing portion 5 can generate a force to twist the base material 2 and the tube 3 does not burst. Similarly, the stitching width in the direction of the reference line X when sewing the first filament portions 41 to the base material 2 is not particularly limited as long as it is within a range in which the first fixing portion 5 can generate a force to bend the base material 2 in the tube direction D3 and the tube 3 does not burst; the stitching width may be designed as appropriate.

[0040] As described above, the first filament portions 41 may be sewn on the tube 3 so that they intersect, although slight variations in the sewing direction are acceptable. In the example shown in FIG. 5A , the tube 3 is sewn in a substantially straight line. However, it is also possible for the tube 3 to be sewn curved relative to the substrate 2. In this case, the angle Δ1 is set for each first filament portion 41 sewn in the upper right direction, and the angle Δ2 is set for each first filament portion 41 sewn in the upper left direction, as long as the angles Δ1 and Δ2 are within the ranges exemplified above. The distances L3 on the left side of the tube 3 may be the same or different. The distances L2 on the right side of the tube 3 may also be the same or different.

[0041] The thread-shaped body first portion 41 is sewn to the base material 2 across the tube 3 so as to cross, so that the base material 2 can be bent in the tube direction D3 as shown in FIG. 5B.

[0042] 5A , one or more of the multiple filament first portions 41 constituting first fixing part 5 do not need to satisfy the above angles Δ1 and Δ2, as long as the first fixing part 5 is within a range in which it generates a force that bends substrate 2 in tube direction D3. In other words, it is preferable that the average values ​​of angles Δ1 and Δ2 of each of the filament first portions 41 constituting first fixing part 5 are within the above range of angles Δ1 and Δ2.

[0043] In this specification, when the forces generated by first fixing part 5 are described as (1) a force that twists substrate 2 rightward as viewed in axial direction D1, (2) a force that twists substrate 2 leftward as viewed in axial direction D1, (3) a force that bends substrate 2 in substrate direction D2, and (4) a force that bends substrate 2 in tube direction D3, this means that the forces that bend in the directions described in (1) to (4) are included. In other words, by adjusting the sewing direction and arrangement of thread-shaped bodies 4 that constitute first fixing part 5, as long as forces in the directions described in (1) to (4) above are mainly generated, force components that bend substrate 2 in other directions may also be included.

[0044] The active body 1 according to the embodiment has the following advantages. (1) Conventional active bodies require expensive artificial muscle threads to be attached to a substrate. In contrast, the active body 1 according to the present embodiment can be manufactured by sewing an inexpensive expandable tube directly to the substrate 2. This reduces the cost of the final product. (2) Conventional active bodies use artificial muscle threads that can stretch in the axial direction. In other words, artificial muscle threads stretch only in the axial direction. Therefore, to bend an active body using conventional artificial muscle threads in a direction different from the stretch direction of the artificial muscle thread, a design was required that combined a fixing part that fixes the artificial muscle thread to the substrate with a guide part that is not fixed to the substrate, or that combined multiple artificial muscle threads. In other words, conventional active bodies cannot bend the substrate at the fixed location in a specific direction by simply fixing the artificial muscle thread to the substrate, and a complex design was necessary to be able to bend the substrate in the desired direction. In contrast, in the active body 1 according to the embodiment, the first fixing part 5 functions as a bending force generator that bends the substrate, and the direction of the bending force generated by the first fixing part 5 can be adjusted by adjusting the direction and arrangement of the filament-shaped body 4 sewn to the tube 3. Therefore, the disclosure of the present application makes it possible to manufacture an active body 1 that can bend in the desired direction with a simple design. (3) As described in (2) above, the active body 1 according to the embodiment can be made to bend by simply sewing the tube 3 to the desired part of the body in the desired direction. Therefore, when producing a final product such as an assist suit, the tube 3 can be simply sewn onto the fabric of the product, significantly improving production efficiency.

[0045] (Optional additional configuration examples that can be adopted by the active body 1) Next, optional additional configuration examples that can be adopted by the active body 1 will be described with reference to the drawings.

[0046] (Regarding the portion where no bending force is generated on the base material 2) 6, the portion where no bending force is generated on the base material 2 (hereinafter, sometimes referred to as "bending force non-generating portion") will be described. Assuming that the active body 1 is implemented as a final product, when one tube 3 is sewn to the base material 2, a bending force non-generating portion 6 where no bending force is generated may be formed between the first fixed portion 5 and the first fixed portion 5 which function as a bending force generating portion.

[0047] There are no particular limitations on the bending force non-generating portion 6, as long as it does not convert the expanding force of the tube 3 into a force that bends the base material 2. The example shown in Fig. 6A shows an example of a second fixing portion 6a that is formed by sewing and fixing the tube 3 onto the base material 2 with a filament 4, and in which the expanding force of the tube 3 is not converted into a force that bends the base material 2. The second fixing portion 6a may be formed by sewing the first filament portion 41 in a direction that is approximately perpendicular to the axial direction D1 (the angle α shown in Fig. 2 is 0 degrees).

[0048] 6B shows an example in which the tube 3 includes a portion covered with a rupture prevention member 6b to prevent the tube 3 from rupturing when it expands. The rupture prevention member 6b is not particularly limited as long as it can prevent the tube 3 from rupturing, and may be made of metal, resin, or the like. The non-bending force-generating portion 6 can be formed by forming the rupture prevention member 6b into a generally cylindrical shape and covering the tube 3. When the non-bending force-generating portion 6 is formed with the rupture prevention member 6b, the rupture prevention member 6b may or may not be sewn to the base material 2 with a thread 4.

[0049] 6A and 6B, one tube 3 has one non-bending-force-generating portion 6. Alternatively, one tube 3 may have two or more, three or more, four or more, or more non-bending-force-generating portions 6 formed therein.

[0050] When the bending force non-generating portion 6 is included, the following effect is achieved in addition to the effect achieved by the active body 1 according to the embodiment. (1) It is possible to form the first fixed portion 5 by fixing a tube 3 to each portion of the substrate 2 that is to be curved. However, in this case, when inflating the tube 3, it is necessary to supply gas from an air supply device to each first fixed portion 5, which results in a large number of air supply tubes (not shown), making it more time-consuming to operate the active body 1. On the other hand, in the example shown in Figure 6, multiple distant first fixed portions 5 can be operated with a single air supply tube. Therefore, the convenience of operating the active body 1 is significantly improved.

[0051] (Number of tubes 3 to be placed in active body 1) 2 to 6, the number of tubes 3 arranged on the active body 1 is one. Alternatively, although not shown, a plurality of first fixing portions 5 may be formed on the active body 1 by fixing a plurality of tubes 3, such as two or more, three or more, four or more. When a plurality of tubes 3 are arranged, the sewing direction and arrangement of the first fixing portions 5 formed on each may be the same or different. Arranging a plurality of tubes 3 on the active body 1 has the effect of enabling a variety of designs for the bending direction of the active body 1.

[0052] (Number of first fixing portions 5 formed on one tube 3 and bending direction) In the examples shown in FIGS. 2 to 5 , one tube 3 has one first fixing portion 5. Alternatively, although not shown, a plurality of first fixing portions 5, such as two or more, three or more, or four or more, may be formed on one tube 3. Furthermore, when a plurality of first fixing portions 5 are formed on one tube 3, the first fixing portions 5 may be formed via the bending force non-generating portions 6 shown in FIG. 6 , or the sewing direction and arrangement of the filaments 4 may be changed without the bending force non-generating portions 6, so that first fixing portions 5 with different sewing directions and arrangements are formed adjacent to each other. When a plurality of first fixing portions 5 are formed on one tube 3 and / or when the bending directions of the first fixing portions 5 formed on one tube 3 are different, it is possible to achieve the effect of enabling a variety of designs for the bending direction of the active body 1.

[0053] The active body 1 according to the above-described embodiment and optional additional configuration examples that can be employed are typical examples of the active body 1, and are not limited to the described examples. Other configurations may be added or removed within the scope of the technical idea disclosed in this application. In addition, any embodiments selected from the active body 1 according to the embodiment and optional additional configuration examples that can be employed may be combined.

[0054] (Embodiment of manufacturing method of active body) Next, a method for manufacturing the active body 1 according to the embodiment (hereinafter simply referred to as the "manufacturing method") will be described with reference to Fig. 7. Fig. 7 is a flowchart of the manufacturing method. The manufacturing method is a method for manufacturing any active body 1 employing the active body 1 according to the embodiment described above and any of the optional additional configuration examples that can be employed.

[0055] The manufacturing method is (ST1) A design step of designing the direction and portion of the substrate 2 to be curved in the active body 1; (ST2) a first fixing part fabrication step of designing the sewing direction and arrangement of the filaments 4 when sewing the tube 3 across the substrate 2 based on the design in the design step, and sewing the tube 3 onto the substrate 2 with the filaments 4 based on the designed sewing direction and arrangement of the filaments 4 to fabricate a first fixing part 5; Includes.

[0056] In the design process (ST1), the first fixing portion 5 is (1) A force that twists the substrate 2 to the right as viewed in the axial direction D1, (2) A force twisting the substrate 2 to the left as viewed in the axial direction D1, (3) a force bending the substrate 2 in the substrate direction D2, and (4) A force that bends the substrate 2 in the tube direction D3, The design may be such that the material contains at least one selected from the group consisting of:

[0057] The sewing direction and arrangement of the filament 4 when carrying out the first fixing part fabricating step, and the direction of the force that causes the first fixing part 5 to curve the base material 2 due to the sewing direction and arrangement have already been explained in the embodiment of the active body described above, and therefore a detailed explanation will be omitted to avoid redundancy.

[0058] A known embroidery machine may be used to sew the thread-shaped body 4 to the base material 2. Alternatively, the thread-shaped body 4 may be sewn to the base material 2 by a sewing machine, hand sewing, or the like.

[0059] The manufacturing method according to the embodiment makes it possible to easily manufacture the first fixed portion 5 according to the desired direction and portion of the substrate 2 to be bent. Therefore, it has the effect of easily manufacturing the active body 1 according to the embodiment and the active body 1 that has the effects described in the optional additional configuration examples that can be adopted.

[0060] (Embodiment of an active body operation method) Next, an operating method of the active body 1 according to the embodiment (hereinafter simply referred to as "operating method") will be described with reference to Figures 8 and 9. Figure 8 is a diagram illustrating an outline of an apparatus for carrying out the operating method. Figure 9 is a flowchart for carrying out the operating method.

[0061] The operating method includes at least the active body 1 according to the above-described embodiment or any of the optional additional configuration examples, an air supply device 7 that supplies gas to the tube 3, and an air supply pipe 8 that connects the air supply device 7 to the tube 3. The air supply pipe 8 and the tube 3 may be connected in any manner as long as they can be airtightly connected. FIG. 8 shows an example in which the air supply pipe 8 is connected to one end 31 of the tube 3 using an optional adapter 81. Although not shown, the other end 32 of the tube 3 is sealed to prevent leakage of the supplied gas. The air supply device 7 is not particularly limited as long as it can supply gas such as air to the tube 3, and examples thereof include a known air compressor. The air supply pipe 8 can be made of the same material as the tube 3.

[0062] The operation method is (ST11) a gas supplying step of supplying gas into the tube 3; (ST12) a base material bending step in which the first fixing portion 5 converts the force of expansion of the tube 3 due to the air supply step into a force that bends the base material 2, thereby bending the base material 2; Includes.

[0063] The pressure of the gas supplied in the gas supplying step (ST11) is not particularly limited as long as it is a pressure that can expand the tube 3.

[0064] In the substrate bending step (ST12), the substrate 2 is bent according to the sewing direction and arrangement of the filaments 4 that constitute the first fixing portion 5. The sewing direction and arrangement of the filaments 4 and the direction of the force that causes the first fixing portion 5 to bend the substrate 2 due to the sewing direction and arrangement have already been explained in the embodiment of the active body described above. Therefore, detailed explanation will be omitted to avoid redundancy.

[0065] The active body 1 according to the embodiment and the active body 1 employing the configuration described in the optional additional configuration examples that can be employed can form the first fixed portion 5 according to the desired direction and the desired portion of the substrate 2 to be bent. Therefore, compared to conventional active bodies 1, the actuation method according to the embodiment has the effect of being able to actuate the active body 1 in a desired direction.

[0066] The following examples are provided to specifically explain the embodiments, but these examples are provided merely as a reference for specific aspects and are not intended to limit or restrict the scope of the invention. [Example]

[0067] Example 1 [Manufacturing Active Unit 1] The substrate 2 was made of cotton fabric (No. 67, 180 threads). The tube 3 was made of a natural rubber tube (Hagitec, T-202-089-01-02) with an outer diameter of 3.2 mm. The filament 4 was made of polyester sewing thread (Ace Crown No. 20). A composite fiber sewing machine (TISM, TCWM-101) was used as the embroidery machine. Using the above materials and sewing machine, the tube 3 was sewn to the substrate 2 to the dimensions shown in Figure 10A (angle α in Figure 2A is 45 degrees, length L1 in Figure 2A is 0.7 mm, and embroidery width (length approximately parallel to the reference line X direction at the left and right ends of the first filament) is 7.0 mm). This produced an active body 1 with a first fixing portion 5. The filament 4 was sewn so that the axial length D1 of the first fixing portion 5 was approximately 90 mm.

[0068] [Preparation of operation method] A Φ2 urethane tube (Koganei U2-C-100) was inserted into both ends of the manufactured active body 1, and the joints were joined without any gaps using adhesive (Toa Gosei Aron Alpha EXTRA 2020). One end was used to connect the air supply device 7, and the other end was sealed by pouring adhesive and letting it harden.

[0069] [Implementation of the operating method] A compressor (Poock, SOL-1030) was used for the air supply device 7, and was connected to one end of the active body 1. The sealed end of the active body 1 was fixed to the aluminum frame using a clip so that it was facing downward. Then, air pressure adjusted from the compressor via a regulator (Koganei, FRZB30) was applied to the tube 3. The air pressure was increased in stages from 0 kPa to 180 kPa.

[0070] Figure 10B shows a photograph of the active body 1 before the air pressure was applied. Figure 10C shows a photograph of the active body 1 after the air pressure was applied. As is clear from Figures 10B and 10C, it was confirmed that a force twisting the base material 2 to the right was generated when the thread first portion 41 was sewn on the right side in the axial direction D1 from the reference line X.

[0071] <Example 2> An active body 1 was manufactured and actuated in the same manner as in Example 1, except that the sewing direction and arrangement of the filament 4 were changed to the angle shown in FIG. 11A (angle β in FIG. 3A was 45 degrees). FIG. 11B shows a photograph of the active body 1 before the application of air pressure. FIG. 11C shows a photograph of the active body 1 after the application of air pressure. As is clear from FIGS. 11B and 11C, it was confirmed that a force twisting the substrate 2 to the left was generated when the filament first portion 41 was sewn on the left side in the axial direction D1 from the reference line X.

[0072] Example 3 An active body 1 was manufactured and actuated in the same manner as in Example 1, except that the sewing direction and arrangement of the filament 4 were changed to a zigzag shape with the size shown in FIG. 12A (the distance between 2L1 and 2L2 in FIG. 4A is 1 mm, and the distance between 2R1 and 2R2 is 1 mm). FIG. 12B shows a photograph of the active body 1 before the application of air pressure. FIG. 12C shows a photograph of the active body 1 after the application of air pressure. As is clear from FIGS. 12B and 12C, it was confirmed that a force was generated to bend the substrate 2 in the substrate direction D2 when the first filament part 41 was sewn in a zigzag shape from one side to the other of the left and right sides of the tube 3. Example 4 An active body 1 was manufactured and actuated in the same manner as in Example 1, except that the stitching direction and arrangement of the filament 4 were changed to a cross shape with the dimensions shown in FIG. 13A (Δ1 and Δ2 in FIG. 5A are 45 degrees, and L2 and L3 are 1.4 mm). FIG. 13B shows a photograph of the active body 1 before the application of air pressure. FIG. 13C shows a photograph of the active body 1 after the application of air pressure. As is clear from FIGS. 13B and 13C, it was confirmed that a force was generated to bend the substrate 2 in the tube direction D3 when the filament first portion 41 was sewn so that the portion sewn on the right side in the axial direction D1 from the reference line X and the portion sewn on the left side in the axial direction D1 from the reference line X crossed each other. [Industrial Applicability]

[0073] According to the active body 1 of the various embodiments disclosed in this application, a desired portion of the active body 1 can be moved in a desired direction, which increases the degree of freedom in designing the active body 1. Therefore, it is useful in the nursing care industry, the sports equipment industry, the clothing industry, etc. [Explanation of symbols]

[0074] 1...active body, 2...substrate, 3...tube, 4...filament, 41...filament first portion, 5...first fixing portion, 6...non-bending-force-generating portion, 6a...second fixing portion, 6b...burst prevention member, non-bending-force-generating portion, 7...air supply device, 8...air supply tube, 81...adapter,

Claims

1. An active body, the active body comprising: A substrate; an inflatable tube; a filament; a first fixing portion formed by sewing and fixing the tube onto the base material with the thread; Including, the first fixing portion functions as a bending force generating portion that bends the base material by converting an expanding force of the tube into a force that bends the base material, The direction and placement of the threads sewn onto the substrate across the tube determines the direction of the force that bends the substrate. Active body.

2. The central axis direction of the tube is defined as the axial direction, When the first fixing portion is viewed in the axial direction, The direction from the axial direction to the substrate side is defined as the substrate direction, When the direction opposite to the substrate side from the axial direction is defined as the tube direction, The force that bends the substrate is a force that twists the substrate to the right as viewed in the axial direction; a force that twists the substrate leftward when viewed in the axial direction; a force bending the substrate toward the substrate; and a force bending the substrate toward the tube; At least one selected from the group consisting of The active body according to claim 1 .

3. A portion of the filament closer to the tube than the substrate is defined as a filament first portion, A virtual line on the base material that is substantially perpendicular to the axial direction is defined as a reference line; When the first fixing portion is viewed from the tube side, When the first thread portion is sewn on the right side of the reference line in the axial direction, a force is generated that twists the base material to the right, When the thread first portion is sewn on the left side in the axial direction from the reference line, a force is generated that twists the base material to the left, When the first thread portion is sewn in a zigzag pattern from one side to the other side of the tube, a force is generated that bends the base material toward the base material, When the first thread portion is sewn so that a portion sewn on the right side of the reference line in the axial direction and a portion sewn on the left side of the reference line in the axial direction cross each other, a force that bends the base material in the tube direction is generated. The active body according to claim 2 .

4. The bending force non-generating portion further includes: a second fixing portion formed by sewing and fixing the tube to the base material with the thread-shaped body, and in which the expansion force of the tube is not converted into a force that bends the base material; or a portion of the tube covered with a burst prevention member for preventing the tube from bursting when the tube is expanded; is The active body according to claim 1 .

5. A method for manufacturing an active body, the active body comprising: a base material, an expandable tube, a thread, and a first fixing portion formed by sewing and fixing the tube to the base material with the thread, the first fixing portion functions as a bending force generating portion that bends the base material by converting an expanding force of the tube into a force that bends the base material, The manufacturing method is a design step of designing a direction and a portion of the substrate to be curved in the active body; a first fixing part fabricating step of designing a sewing direction and arrangement of the filament when sewing the filament across the tube onto the base material based on the design in the design step, and fabricating the first fixing part by sewing the tube onto the base material with the filament based on the designed sewing direction and arrangement of the filament; Contains Manufacturing method.

6. The central axis direction of the tube is defined as the axial direction, When the first fixing portion is viewed in the axial direction, The direction from the axial direction to the substrate side is defined as the substrate direction, When the direction opposite to the substrate side from the axial direction is defined as the tube direction, In the design process, the first fixing portion is a force that twists the substrate to the right as viewed in the axial direction; a force that twists the substrate leftward when viewed in the axial direction; a force bending the substrate toward the substrate; and a force bending the substrate toward the tube; The design is such that it contains at least one selected from the group consisting of The method of claim 5.

7. A portion of the filament closer to the tube than the substrate is defined as a filament first portion, A virtual line on the base material that is substantially perpendicular to the axial direction is defined as a reference line; When the first fixing portion is viewed from the tube side, The first fixing portion fabricating step includes: When a force twisting the base material to the right is generated, the thread is sewn so that the first thread portion is located to the upper right of the reference line in the axial direction; When a force twisting the base material in the left direction is generated, the thread is sewn so that the first portion of the thread is located on the upper left side of the reference line in the axial direction; When a force that bends the base material toward the base material is generated, the thread-shaped body is sewn so that the first portion of the thread-shaped body is in a zigzag shape from one side to the other side of the tube, When a force that bends the base material in the tube direction is generated, the thread is sewn so that the portion where the thread first portion is sewn on the right side in the axial direction from the reference line intersects with the portion where the thread first portion is sewn on the left side in the axial direction from the reference line. The method of claim 6.

8. A method for operating an active body, the active body comprising: a base material, an inflatable tube, a filament, a first fixing portion formed by sewing and fixing the tube to the base material with the filament, an air supply device that supplies gas to the tube, and an air supply pipe that connects the air supply device and the tube, the first fixing portion functions as a bending force generating portion that bends the base material by converting an expanding force of the tube into a force that bends the base material, the force that bends the substrate varies depending on the direction and arrangement of the threads sewn onto the substrate across the tube; The operation method is a gas supplying step of supplying gas into the tube; a base material bending step of bending the base material by converting a force of expansion of the tube caused by the air supply step into a force that bends the base material with the first fixing portion; Contains How it works.

9. The central axis direction of the tube is defined as the axial direction, When the first fixing portion is viewed in the axial direction, The direction from the axial direction to the substrate side is defined as the substrate direction, When the direction opposite to the substrate side from the axial direction is defined as the tube direction, The force that bends the substrate is a force that twists the substrate to the right as viewed in the axial direction; a force that twists the substrate leftward when viewed in the axial direction; a force bending the substrate toward the substrate; and a force bending the substrate toward the tube; At least one selected from the group consisting of 9. The method of claim 8.

10. A portion of the filament closer to the tube than the substrate is defined as a filament first portion, A virtual line on the base material that is substantially perpendicular to the axial direction is defined as a reference line; When the first fixing portion is viewed from the tube side, The first fixing portion is When a force twisting the base material to the right is generated, the thread is sewn so that the first thread portion is located to the upper right of the reference line in the axial direction, When a force twisting the base material in the left direction is generated, the thread is sewn so that the first thread portion is located on the upper left side of the reference line in the axial direction, When a force that bends the base material toward the base material is generated, the thread-shaped body is sewn so that the first portion of the thread-shaped body is in a zigzag shape from one side to the other side of the tube, When a force that bends the base material in the tube direction is generated, the thread-shaped body is sewn so that a portion where the thread-shaped body first portion is sewn on the right side in the axial direction from the reference line intersects with a portion where the thread-shaped body first portion is sewn on the left side in the axial direction from the reference line.

10. The method of claim 9.

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